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Copter: set sys_status motor outputs bit from safety switch

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Randy Mackay 2014-09-14 17:27:54 +09:00
parent 9f3803052f
commit 9bcf9a31ed
1 changed files with 9 additions and 2 deletions
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11
ArduCopter/GCS_Mavlink.pde
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@ -161,8 +161,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} }
// all present sensors enabled by default except altitude and position control which we will set individually // all present sensors enabled by default except altitude and position control and motors which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL); control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
switch (control_mode) { switch (control_mode) {
case ALT_HOLD: case ALT_HOLD:
@ -182,6 +184,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
break; break;
} }
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
// default to all healthy except baro, compass, gps and receiver which we set individually // default to all healthy except baro, compass, gps and receiver which we set individually
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG | MAV_SYS_STATUS_SENSOR_3D_MAG |